ATE381047T1 - METHOD FOR REAL-TIME DETERMINATION OF THE TARGET PATHWAY OF A MOTOR VEHICLE - Google Patents

METHOD FOR REAL-TIME DETERMINATION OF THE TARGET PATHWAY OF A MOTOR VEHICLE

Info

Publication number
ATE381047T1
ATE381047T1 AT05798956T AT05798956T ATE381047T1 AT E381047 T1 ATE381047 T1 AT E381047T1 AT 05798956 T AT05798956 T AT 05798956T AT 05798956 T AT05798956 T AT 05798956T AT E381047 T1 ATE381047 T1 AT E381047T1
Authority
AT
Austria
Prior art keywords
real
motor vehicle
time determination
target pathway
traffic lane
Prior art date
Application number
AT05798956T
Other languages
German (de)
Inventor
Hugues Leger
Francois Dechamp
Original Assignee
Renault Trucks
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Renault Trucks filed Critical Renault Trucks
Application granted granted Critical
Publication of ATE381047T1 publication Critical patent/ATE381047T1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/005—Sampling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/05—Type of road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius

Abstract

The invention concerns a method for real-time determination of the target trajectory of a motor vehicle (1) moving along a traffic lane (3) having a width (D) greater than the length (L) of said vehicle. The invention is characterized in that it consists in: continuously evaluating the curvature (C) of the traffic lane, in at least one point located in front of the vehicle; at each point, determining an evolution of the elementary difference between the target trajectory and the center (6) of the traffic lane, based on the curvature at the point concerned; adding the evolutions of the elementary variations to determine the overall trajectory (7).
AT05798956T 2004-09-07 2005-09-06 METHOD FOR REAL-TIME DETERMINATION OF THE TARGET PATHWAY OF A MOTOR VEHICLE ATE381047T1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR0451973A FR2875022B1 (en) 2004-09-07 2004-09-07 METHOD FOR REAL-TIME DETERMINATION OF THE TARGET TRAJECTORY OF A VEHICLE

Publications (1)

Publication Number Publication Date
ATE381047T1 true ATE381047T1 (en) 2007-12-15

Family

ID=34951335

Family Applications (1)

Application Number Title Priority Date Filing Date
AT05798956T ATE381047T1 (en) 2004-09-07 2005-09-06 METHOD FOR REAL-TIME DETERMINATION OF THE TARGET PATHWAY OF A MOTOR VEHICLE

Country Status (5)

Country Link
EP (1) EP1792243B1 (en)
AT (1) ATE381047T1 (en)
DE (1) DE602005003850T2 (en)
FR (1) FR2875022B1 (en)
WO (1) WO2006027533A1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013223000A1 (en) * 2013-11-12 2015-05-13 Robert Bosch Gmbh Method for determining a driving curve, control arrangement for carrying out the method and vehicle with such a control arrangement
US10144453B2 (en) 2016-04-13 2018-12-04 Cnh Industrial America Llc System and method for controlling a vehicle
FR3089924B1 (en) * 2018-12-14 2021-09-10 Renault Sas PREVENTIVE BEHAVIOR CONTROL PROCESS AND SYSTEM
US11738749B2 (en) * 2020-11-09 2023-08-29 GM Global Technology Operations LLC Methods, systems, and apparatuses for scenario-based path and intervention adaptation for lane-keeping assist systems

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03268108A (en) * 1990-03-19 1991-11-28 Honda Motor Co Ltd Automatic traveling device
US5390118A (en) * 1990-10-03 1995-02-14 Aisin Seiki Kabushiki Kaisha Automatic lateral guidance control system
JP3637849B2 (en) * 2000-07-06 2005-04-13 日産自動車株式会社 Lane tracking control device

Also Published As

Publication number Publication date
DE602005003850T2 (en) 2008-12-11
DE602005003850D1 (en) 2008-01-24
FR2875022A1 (en) 2006-03-10
EP1792243A1 (en) 2007-06-06
EP1792243B1 (en) 2007-12-12
WO2006027533A1 (en) 2006-03-16
FR2875022B1 (en) 2006-11-24

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